| { | |
| "codebase_version": "v2.1", | |
| "robot_type": "stretch3", | |
| "total_episodes": 3, | |
| "total_frames": 236, | |
| "total_tasks": 1, | |
| "total_videos": 6, | |
| "total_chunks": 1, | |
| "chunks_size": 1000, | |
| "fps": 10, | |
| "splits": { | |
| "train": "0:3" | |
| }, | |
| "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", | |
| "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", | |
| "features": { | |
| "observation.images.head": { | |
| "dtype": "video", | |
| "shape": [ | |
| 224, | |
| 224, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.fps": 10.0, | |
| "video.codec": "mp4v" | |
| } | |
| }, | |
| "observation.images.wrist": { | |
| "dtype": "video", | |
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| 224, | |
| 224, | |
| 3 | |
| ], | |
| "names": [ | |
| "height", | |
| "width", | |
| "channel" | |
| ], | |
| "info": { | |
| "video.fps": 10.0, | |
| "video.codec": "mp4v" | |
| } | |
| }, | |
| "observation.state": { | |
| "dtype": "float32", | |
| "shape": [ | |
| 9 | |
| ], | |
| "names": [ | |
| "joint_wheel", | |
| "joint_lift", | |
| "joint_arm", | |
| "joint_head_pan", | |
| "joint_head_tilt", | |
| "joint_wrist_yaw", | |
| "joint_wrist_pitch", | |
| "joint_wrist_roll", | |
| "joint_gripper_finger" | |
| ] | |
| }, | |
| "action": { | |
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| "shape": [ | |
| 9 | |
| ], | |
| "names": [ | |
| "joint_wheel", | |
| "joint_lift", | |
| "joint_arm", | |
| "joint_head_pan", | |
| "joint_head_tilt", | |
| "joint_wrist_yaw", | |
| "joint_wrist_pitch", | |
| "joint_wrist_roll", | |
| "joint_gripper_finger" | |
| ] | |
| }, | |
| "timestamp": { | |
| "dtype": "float32", | |
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| 1 | |
| ], | |
| "names": null | |
| }, | |
| "frame_index": { | |
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| "names": null | |
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| "episode_index": { | |
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| "index": { | |
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| "names": null | |
| }, | |
| "task_index": { | |
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| ], | |
| "names": null | |
| } | |
| } | |
| } |